CN111664227A

CN111664227A - Pure rolling long-life precision speed reducer

Info

Publication number: CN111664227A
Application number: CN202010525403.3A
Authority: CN
Inventors: 陈兵奎; 李朝阳; 黄健
Original assignee: Chongqing Yisilun Technology Co ltd
Current assignee: Chongqing Yisilun Technology Co ltd
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-09-15
Anticipated expiration: 2040-06-10
Also published as: CN111664227B

Abstract

The invention relates to a pure rolling long-life precision speed reducer, and belongs to the field of precision speed reducers. The speed reducer comprises a shell, a cycloid wheel, needle teeth, a needle tooth pin sleeve for adjustment, a pin shaft type output mechanism pin sleeve, a left disc, a right disc, an output mechanism supporting bearing, an input shaft, a tumbler bearing and the like. The effect of high-precision motion transmission is obtained by controlling the wall thickness of a pin gear pin sleeve and a pin shaft type output mechanism pin sleeve and adjusting the gap between a key meshing pair and the pin shaft type output mechanism; the pin gear meshing pair and the pin shaft type output mechanism are pure rolling components, so that the sliding between the meshing pair and the output mechanism is reduced, the lubricating effect is improved, and the abrasion is reduced; the structure that the same pin shaft hole of the two cycloid gears in the pin shaft output mechanism adopts an independent pin sleeve is beneficial to the load balancing of the two cycloid gears, and the shearing stress of the two cycloid gears acting on the pin sleeve can be eliminated, so that the long-life transmission effect is realized.

Description

Pure rolling long-life precision speed reducer

Technical Field

The invention belongs to the field of precision speed reducers, and relates to a pure rolling long-life precision speed reducer.

Background

The cycloid planetary reducer has the outstanding advantages of high transmission precision, high transmission efficiency, large torsional rigidity, compact structure, small volume, small return difference, stable transmission and the like, is widely applied in the fields of robots, aviation and aerospace, numerical control machines, weaponry and the like, and is an extremely important basic part in the manufacturing equipment industry and the national defense industry.

The pin shaft type output cycloidal pin wheel speed reducer is usually used as power transmission. The pin shaft type output mechanism consists of a plurality of pin shafts and a plurality of pin sleeves, wherein the periphery of each pin shaft is uniformly arranged on an end disc, and the pin sleeves are arranged on the pin shafts, and the pin shaft type output mechanism has the following problems that (1) in order to simplify the mechanism, two coordinate holes at the same position of two cycloid gears symmetrically arranged at 180 degrees commonly share one pin shaft and one pin sleeve, and the coordinate aperture of the cycloid gear and the outer diameter of the pin sleeve must meet the geometrical relationship that the difference between the coordinate aperture and the outer diameter of the pin sleeve is 2. (2) In addition, the structure that the two cycloid gears share the same pin sleeve is not beneficial to uniform loading of the cycloid gears, and meanwhile, the pin sleeve bears larger shearing load, so that the service life of the speed reducer is shortened. (3) Because of the tangential sliding and the clearance among the pin shaft, the pin sleeve and the cycloid gear coordinate hole in the output mechanism, the accurate motion output is difficult to realize. In view of the above, in order to realize accurate motion transmission, measures are often taken to control the meshing gap between the cycloidal pin gear meshing pairs by selecting and matching pin gears and eliminate the play of the ball bearing or the tapered roller bearing in the support mechanism by axial pretension, and the measures still have the defects that the pin gears of the cycloidal pin gear meshing pairs are difficult to select and have poor rolling effect, and the ball bearing or the tapered roller bearing is easy to wear under the action of the pretension force.

In view of the above problems, the patent CN03117879.0 conical cycloid wheel planetary transmission device proposes a structure of conical cycloid gear meshing pair, which eliminates the gap between the conical cycloid gear and the rolling needle by adjusting the axial position of the cycloid gear; two cycloid gears in a pin shaft type output mechanism in a double-disc cycloid gear planetary transmission device in the patent CN200510057463.2 do not share the same pin sleeve, the pin sleeve and a cycloid gear coordinate hole both adopt a conical structure, and the gap between the pin sleeve and the cycloid gear coordinate hole is eliminated by adjusting the axial position.

The two solutions still have the following problems:

(1) the conical cycloid pin tooth meshing pair and the conical pin sleeve relatively slide in work, and the rolling effect is not ideal;

(2) the conical tooth profile or the conical pin sleeve is difficult to machine and has poor consistency, so that the load balancing effect of the meshing pair and the output mechanism is poor;

(3) the axial position of the tapered pin bush is difficult to adjust, the clearance between the tapered pin bush and the pin shaft cannot be eliminated, and the lubricating effect is poor.

Disclosure of Invention

In view of the above, the present invention provides a pure rolling long-life precision speed reducer.

In order to achieve the purpose, the invention provides the following technical scheme:

a pure rolling long-life precision speed reducer comprises a pure rolling cycloid pin gear meshing pair, a zero-clearance pin shaft type output mechanism, an independent pin sleeve and an output mechanism supporting bearing, wherein the pure rolling cycloid pin gear meshing pair controls a meshing gap by adjusting the wall thickness of a pin gear sleeve, the zero-clearance pin shaft type output mechanism eliminates the gap among a pin shaft, the pin shaft sleeve and a cycloid gear coordinate hole by adjusting the wall thickness of a pin shaft sleeve, and the independent pin sleeve and the output mechanism supporting bearing are arranged on the same pin shaft and used for reducing sliding between two.

Optionally, the pure rolling cycloid pin gear meshing pair for controlling the meshing gap by adjusting the wall thickness of the pin gear sleeve specifically comprises: the pin gear component and the cycloid gear form a small tooth difference cycloid pin gear meshing pair, and the meshing gap is controlled by the wall thickness of the pin gear sleeve; the pin gear component is composed of a plurality of groups of pin gear pin shafts and pin gear sleeves which are uniformly distributed on the circumference and installed on the shell, wherein the nominal size of the inner hole of each pin gear sleeve is larger than that of the outer cylindrical surface of each pin gear pin shaft, and then pure rolling pin gears under the working condition are formed.

Optionally, the independent pin bush installed on the same pin shaft and used for reducing sliding between the two cycloid gears and the pin shaft is specifically as follows: the pin shaft sleeve between each coordinate hole of each cycloid gear and the pin shaft is independently used, and the pin shaft sleeve does not share the same pin shaft sleeve with the coordinate hole at the corresponding position of another cycloid gear on the same pin shaft.

Optionally, the zero-clearance pin shaft type output mechanism for eliminating the clearance between the pin shaft, the pin shaft sleeve and the cycloid gear coordinate hole by adjusting the wall thickness of the pin shaft sleeve specifically comprises: the left ends of a plurality of pin shafts are respectively in interference connection with coordinate holes uniformly distributed on the same circumference on the left disc, and the right ends of the pin shafts are provided with threaded holes and are respectively connected with the right disc through screws; the pin shafts respectively penetrate through coordinate holes uniformly distributed on the same circumference on the cycloid gear, and the pin shaft sleeves penetrate through the pin shafts and are positioned between the pin shafts and the cycloid gear coordinate holes; the excircle of the pin shaft sleeve meets the geometrical position relation of a pin, the pin sleeve and a cycloid gear coordinate hole of the cycloid pinwheel pin shaft type output mechanism, and the nominal size of the pin shaft sleeve hole is larger than the nominal size of the outer diameter of the pin shaft; the gap between the pin shaft and the cycloidal gear coordinate hole is controlled by adjusting the wall thickness of the pin shaft sleeve when the cycloidal pin wheel pin shaft type output mechanism works normally.

Optionally, the output mechanism support bearing is in a staggered roller bearing form which is installed or integrated on the left disc, the right disc and the shell, a bearing used for supporting the output mechanism and the shell is a staggered roller bearing, inner rings of the staggered roller bearings are respectively installed or integrated on the left disc and the right disc, outer rings of the staggered roller bearings are installed or integrated on the shell, and the clearance of the staggered roller bearings is controlled through matching rollers.

Optionally, the output mechanism support bearing is in the form of a standard series deep groove ball bearing, an angular contact ball bearing or a tapered roller bearing, an inner ring of the bearing is mounted on the left disc and the right disc, an outer ring of the bearing is supported on the shell, and a bearing clearance is controlled through an axial adjusting gasket.

The invention has the beneficial effects that:

(1) the invention adopts the mode of controlling the wall thickness of the pin bush or selecting the cylindrical roller to control the clearance of the meshing pair, the output mechanism and the support bearing in the speed reducer, has no pretightening force, has small abrasion under the rated working condition, is beneficial to improving the precision-maintaining service life of the speed reducer, and in addition, the cylindrical pin bush and the cylindrical roller are easy to process and have low batch production cost;

(2) the pin gear assembly and the output pin shaft assembly adopt the scheme that the nominal size of a pin sleeve hole is larger than the nominal size of the outer diameter of a pin shaft, the structure has good rolling effect under the working condition, a single-side aperture gap is formed between the pin sleeve and the pin shaft under the working condition, lubricating media can be stored, the entrainment lubricating effect is good, the transmission efficiency of a mechanism is improved, the abrasion is reduced, and the service life of a speed reducer is prolonged;

(3) the independent pin bush structure not only eliminates the shearing load of the pin bush shared by two cycloid gear pairs, but also is beneficial to uniform load of the cycloid gear, is beneficial to prolonging the service life of the speed reducer, and breaks through the limitation of geometric constraint that the difference between the inner diameter of a coordinate hole of the cycloid gear and the outer diameter of the pin bush is 2 times of the eccentricity;

(4) the staggered roller bearing used for supporting the output mechanism and the shell can bear the action of large bending and twisting combined load and can bear relatively large axial force.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a partial enlarged view of a pure rolling cycloid pin gear meshing pair;

FIG. 3 is a three-dimensional schematic view of a pure rolling cycloid pin gear meshing pair;

FIG. 4 is an enlarged partial view of the zero-clearance pin shaft output mechanism;

FIG. 5 is a three-dimensional schematic view of a zero-clearance pin shaft output mechanism;

FIG. 6 is a schematic structural view of a reducer in which a deep groove ball bearing is used as a support bearing;

FIG. 7 is a schematic structural view of a reducer in which angular contact ball bearings are used as support bearings;

fig. 8 is a schematic structural view of a speed reducer in which a tapered roller bearing is used as a support bearing.

Reference numerals: 1-left disc; 2-staggered roller bearing inner rings; 3-staggered rollers; 4-a shell; 5-needle gear sleeve; 6-needle teeth; 7-staggered roller bearing outer ring, 8-cycloid wheel; 9-right disc; 10-a screw; 11-a clamp spring; 12-tapered roller bearings; 13-positioning blocks; 14-a sleeve; 15-pin bush; 16-oil seal; 17-a pin shaft; 18-cylindrical rollers; 19-input shaft.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.

Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 8, the pure rolling long-life compact speed reducer of the present embodiment includes a housing 4, a left disk 1, a right disk 9, a cycloid wheel 8, a pin gear assembly, an output pin assembly, an input shaft 19, a staggered roller bearing, and a cylindrical roller 18. The pin gear component and the cycloid gear 8 form a pure rolling cycloid pin gear meshing pair. The output pin assembly, the cycloid gear 8, the left disc 1 and the right disc 9 form a zero-clearance pin shaft type output mechanism. The input shaft 19 axially passes through the cycloid gear 8, and the input shaft 19 is in running fit with the cycloid gear 8 through a full complement cylindrical roller bearing.

In the embodiment, the needle tooth assembly is composed of needle teeth 6 and a needle tooth sleeve 5 which are uniformly distributed on the circumference of the shell 4; the nominal size of the inner hole of the pin gear sleeve 5 is larger than the nominal size of the outer cylindrical surface of the pin gear 6, so that pure rolling pin gear under the working condition is formed; the pure rolling pin gear component and the cycloid gear 8 form a pure rolling cycloid pin gear meshing pair, and the meshing clearance is controlled by adjusting the wall thickness of the pin gear sleeve.

In this embodiment, symmetrically distributed flanges are respectively arranged between two ends of the cylindrical hole in the middle of the housing 4 and the staggered roller bearings, circular through holes are uniformly distributed on the flanges, an annular boss is arranged in the middle of the flange, two ends of the pin gear 6 are arranged in the circular through holes on the flanges, and the middle of the pin gear and the annular boss form three-point support.

In this embodiment, the output pin assembly includes a pin shaft 17 and a pin shaft sleeve 15; the left end of the pin shaft 17 is respectively in interference connection with coordinate holes uniformly distributed on the same circumference on the left disc 1, and the right end of the pin shaft 17 is provided with a threaded hole and is respectively connected with the right disc 9 through a screw 10; the pin shafts 17 respectively penetrate coordinate holes uniformly distributed on the same circumference on the cycloid gear 8, and the pin shaft sleeves 15 penetrate through the pin shafts 17 and are positioned between the pin shafts and the cycloid gear coordinate holes; the nominal size of the pin shaft sleeve hole is larger than the nominal size of the pin shaft outer diameter; the gap between the pin shaft and the cycloidal gear coordinate hole is controlled by adjusting the wall thickness of the pin shaft sleeve when the cycloidal pin wheel pin shaft type output mechanism works normally.

In this embodiment, each coordinate hole of the cycloid gear 8 and the pin shaft sleeve 15 between the pin shafts are independently used, and do not share the same pin shaft sleeve with a coordinate hole at a corresponding position of another cycloid gear on the same pin shaft.

In this embodiment, the central axes of the left disc 1 and the right disc 9 are provided with circular through holes and clamp spring grooves; tapered roller bearings 12 are respectively arranged in the circular through holes, and clamp springs 11 are arranged in clamp spring grooves and axially position and pre-tighten the tapered roller bearings; the inner rings of the tapered roller bearings 12 are arranged at two ends of an input shaft 19, the input shaft is provided with double eccentric parts, the double eccentric parts drive the cycloid wheel to do revolution motion, the double eccentric phase angle is 180 degrees, and the stress balance of the speed reducer in the motion process is ensured; positioning blocks 13 are arranged on two end faces of the double eccentric parts, and cylindrical rollers 18 are fully arranged on the outer circles of the eccentric parts; the positioning block 13 axially positions the full complement cylindrical roller; a circular through hole is formed in the central axis of the cycloid wheel 8, and the circular through hole is used as an outer ring of the full-complement cylindrical roller bearing and matched with the full-complement cylindrical rollers 18 arranged on the double eccentric parts to form the full-complement cylindrical roller bearing;

in the embodiment, the staggered roller bearing consists of staggered roller bearing inner rings 2, staggered roller bearing outer rings 7 and staggered rollers 3 which are arranged at intervals in the radial direction and the axial direction and are packed into a spacer block; stepped circular holes are formed in the left end face and the right end face of the shell 4, and staggered roller bearing outer rings 7 are installed in the stepped circular holes; the left disc 1 and the right disc 9 are respectively provided with staggered roller bearing inner rings 2, and the left disc and the right disc are arranged in stepped round holes on the left end surface and the right end surface of the shell 4 through the staggered roller bearings; in this embodiment, the crossed roller bearing outer ring 7 can be integrated with the housing, and the crossed roller bearing inner ring 2 is integrated with the left and right discs, so that the number of parts of the speed reducer is reduced.

In the embodiment, the staggered roller bearing for supporting the left and right disks and the shell can adopt a standard series deep groove ball bearing, an angular contact ball bearing or a tapered roller bearing. The structure is shown in fig. 6, 7 and 8. The outer ring of the standard series bearing is arranged on the shell, and the inner ring of the standard series bearing is arranged on the left disc and the right disc.

Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims

1. The utility model provides a pure rolling long-life precision reduction gear which characterized in that: the mechanism comprises a pure rolling cycloid pin gear meshing pair for controlling a meshing gap by adjusting the wall thickness of a pin gear sleeve, a zero-gap pin shaft type output mechanism for eliminating the gap among a pin shaft, the pin shaft sleeve and a cycloid gear coordinate hole by adjusting the wall thickness of the pin shaft sleeve, and an independent pin sleeve and an output mechanism support bearing which are arranged on the same pin shaft and used for reducing the sliding between two cycloid gears and the pin shaft.

2. A pure rolling long life precision reducer as claimed in claim 1 wherein: the pure rolling cycloid pin gear meshing pair for controlling the meshing gap by adjusting the wall thickness of the pin gear sleeve specifically comprises the following components: the pin gear component and the cycloid gear form a small tooth difference cycloid pin gear meshing pair, and the meshing gap is controlled by the wall thickness of the pin gear sleeve; the pin gear component is composed of a plurality of groups of pin gear pin shafts and pin gear sleeves which are uniformly distributed on the circumference and installed on the shell, wherein the nominal size of the inner hole of each pin gear sleeve is larger than that of the outer cylindrical surface of each pin gear pin shaft, and then pure rolling pin gears under the working condition are formed.

3. A pure rolling long life precision reducer as claimed in claim 1 wherein: the independent pin bush arranged on the same pin shaft and used for reducing sliding between the two cycloid gears and the pin shaft is characterized in that: the pin shaft sleeve between each coordinate hole of each cycloid gear and the pin shaft is independently used, and the pin shaft sleeve does not share the same pin shaft sleeve with the coordinate hole at the corresponding position of another cycloid gear on the same pin shaft.

4. A pure rolling long life precision reducer as claimed in claim 1 wherein: the zero-clearance pin shaft type output mechanism for eliminating the clearance among the pin shaft, the pin shaft sleeve and the cycloid gear coordinate hole by adjusting the wall thickness of the pin shaft sleeve specifically comprises: the left ends of a plurality of pin shafts are respectively in interference connection with coordinate holes uniformly distributed on the same circumference on the left disc, and the right ends of the pin shafts are provided with threaded holes and are respectively connected with the right disc through screws; the pin shafts respectively penetrate through coordinate holes uniformly distributed on the same circumference on the cycloid gear, and the pin shaft sleeves penetrate through the pin shafts and are positioned between the pin shafts and the cycloid gear coordinate holes; the excircle of the pin shaft sleeve meets the geometrical position relation of a pin, the pin sleeve and a cycloid gear coordinate hole of the cycloid pinwheel pin shaft type output mechanism, and the nominal size of the pin shaft sleeve hole is larger than the nominal size of the outer diameter of the pin shaft; the gap between the pin shaft and the cycloidal gear coordinate hole is controlled by adjusting the wall thickness of the pin shaft sleeve when the cycloidal pin wheel pin shaft type output mechanism works normally.

5. A pure rolling long life precision reducer as claimed in claim 1 wherein: the output mechanism supporting bearing adopts a staggered roller bearing form which is installed or integrated on the left disc, the right disc and the shell, the bearing used for supporting the output mechanism and the shell adopts a staggered roller bearing, the inner ring of the staggered roller bearing is respectively installed or integrated on the left disc and the right disc, the outer ring of the staggered roller bearing is installed or integrated on the shell, and the clearance of the staggered roller bearing is controlled by matching rollers.

6. A pure rolling long life precision reducer as claimed in claim 1 wherein: the output mechanism supporting bearing adopts a standard series deep groove ball bearing, an angular contact ball bearing or a tapered roller bearing, the inner ring of the bearing is arranged on a left disc and a right disc, the outer ring of the bearing is supported on a shell, and the clearance of the bearing is controlled by an axial adjusting gasket.